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  1. New Advances in Mechanisms, Mechanical Transmissions and Robotics
  2. Latest Results and Developments
  3. Special Sessions on Emerging Robotics Technology
  4. Recent Advances in Mechanism Design for Robotics | hakewyfixedi.ml

February 28, The stability of a thin gas layer flow between two fluid layers moving in the same or opposite direction is modeled and simulated numerically. A linear stability is considered for the system using the non-stationary equation array, which consists of the two one-dimensional non-stationary equations of a seventh and fourth order. The results of the numerical study showed that the thin gas layer between two liquid layers is unstable to a number of different perturbations of the flow parameters February 12, Many lands in China are close to rivers and oceans and they are very suitable for developing fisheries.

Water quality monitoring is indispensable to the development of fisheries. Therefore, a method of detecting, evaluating and predicting fishery water quality using unmanned aerial vehicle electrode sensor array is proposed. The results show that this method can timely monitor fishery water quality and predict the future trend of water quality and improve the detection efficiency January 29, Smart Robotics for Smart Healthcare.

The technological advances in ICT, IoT and robotics have enabled development of specific, optimal service-based solutions for many societal issues and problems. Notably in the recent times smart, service-enabled robotics are being applied to impart smart healthcare solutions in healthcare domains like complex surgeries, elderly care, assistive technologies, patient care at home to name a few. This paper is devoted to highlighting how smart robotics is being and can be applied for delivering smart healthcare in varied healthcare perspectives and domain Gyroscopic Torques Acting on Crushing Mill.

Numerous mechanisms with rotating objects in engineering manifest gyroscopic effects, which mathematical models formulated on the law of kinetic energy conservation and the action of inertial torques. Known theories of gyroscopic effects are far from the practical result of the action inertial torques on the rotating objects. The new study demonstrates that the gyroscopic effects are the result of the simultaneous and interdependent action of the resistance and precession torques of rotating objects around different axes.

The centrifugal and Coriolis forces are generated the first torques and the second one by the common inertial forces and the change in the angular momentum of the rotating mass of a spinning object. The principle of gyroscope effects has been applied in the crushing pendulum mil January 25, The increasing consumption of electrical energy requires higher capacity both in generation as in transmission of electric power and expansion of the networks, including interconnection of systems and High Voltage Direct Current HVDC links operating in parallel with Alternating Current Circuits AC.

This reinforces the requirement of having reliable wide area control schemes for obtaining an adequate dynamic security. Phasor measurement units PMUs facilitate the realization of several wide-area actions of control. One of them January 03, Relationships between humans and technology are constantly fraught with controversy, utopian idealism and in particular, dichotomies.

This is an interesting article for many reasons, such as the mimicry of living organisms to generate form and movement biomimicry , inspiration from nature to create intelligent robotics that exceed the imagination in terms of their embodiment, and relevant to this short piece, the relationship between robotics and humans. Often times cyborgs and cyborgism are considered new concepts. November 30, Intelligent Robotics for Smart Agriculture.

Smart agriculture is a cyber-physical agriculture management concept involved in the observing, measuring and responding variability of crops in the agriculture management cycle. This paper is devoted to the intelligent robotics for smart agriculture. After the robotics demand analysis, the key technologies are proposed step by step, including robotics vision modeling and decision making, robotics pattern recognition and human-computer interaction decision, robotics function development and test verification November 13, The problem of using Blockchain technology in multi-level robotic systems is considered.

The management of the robotic systems faces significant difficulties in transferring large amounts of information, securities, metadata, and intellectual contracts. The blockchain technology, based on a decentralized system of distributed registries, allows solving data transfer problems quickly and safely.

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  • Robotics in Education.
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New digital blockchain-based queuing systems can be effectively used in multi-level control tasks October 25, October 24, Some time may be feelings for other because of past common situation of us is the present situation of someone or may be some time we think if that sit October 23, The production of nickel in Cuba is one of the main export items in our economy. In recent years, its production costs have risen significantly, with a high incidence of electricity costs, which is why it is necessary to take energy shock measures to reverse this situation.

Currently there are deficiencies in the Reduction Furnace plant related to the control of the air supply and the electric power used by the asynchronous motors that drive the centrifugal fans, reducing the efficiency levels of the production process and the plant in general. In order to increase the energy efficiency of the combustion process supply system and reach an optimum control model of the airflow of this plant, variants are designed and simulated based on artificial neural networks that allow to establish the air demand from the drive of the fans by means of v The experimental identification of the liquor preheating process that links the plant complex: Neutral-Leaching-Sulfides, with the scoop of knowing the dynamics of the process for its better study and understanding.

It explains the fundamental techniques and methods of identification as well as the input signal to excite the system. The experiments that were carried out are described, the mathematical model obtained is validated and the controller parameters are simulated to optimize the control of the liquor level in the preheating tank October 10, Insight into Bio Inspired Robotics. I am trying to understand whole family of Biology and Synthetic Biology inspired robotics through this piece of communication.

Broadly with assuming their sub categories in them I would like classify bio inspired robotics in to five major heads are Cyborg, Cylons, Soft robotics, Continuum robotics, Plantoids and Nanobots. Where Soft robots and Plantoids are quite new and interesting domains of new future of AI in many forms with advanced features. This opinion gives in your notice all about them This review presents on research of application of reinforcement learning and new approaches on a course search in mazes with some kinds of multi-point passing as machines.

It is based on a selective learning from multi-directive behavior patterns using PS Profit Sharing by an agent. The behavior is selected stochastically from 4 kinds of ones using PS with Boltzmann Distribution with a plan to inhibit invalid rules by a reinforcement function of a geometric sequence. A design approach is demonstrated based on the metamorphic cyclogram and the equivalent resistance gradient model.

A novel electric loading mechanism is introduced in this paper by applying metamorphic mechanisms to the innovative design of loaders, which can change its topological structure to satisfy various kinds of demands during the working process. One driving motor can finish multiple tasks such as shoveling, rolling, lifting, and unloading. This paper introduces the characteristics during the evolutionary process first, based on which, two 0-DOF Degree-of-Freedom directional Assur groups are developed to be the new metamorphic cells as well as their representations. Configuration transformation and its degeneration ways during the genetic growth are studied.

Biological modeling for working-phase mechanisms is proposed. The evolutionary synthesis process for generating the source-metamorphic loading mechanism and its representation is introduced through evolutionary operations. Mechanism with variable topologies MVTs can change its topological structure because the kinematic types of certain joints are changeable during operation process.

This work reviews and discusses the matrix methods for the representation and analysis of the topological structures of MVTs. First, we study several matrix representation methods for MVTs and compare their characteristics. Accordingly, these methods are classified into two different types based on the existence of joint types recorded. Furthermore, we discuss the applications of these methods for the structural decomposition and the topological homomorphism identification of MVTs. Last, we summarize the current limitations of the matrix representation methods for MVTs for future studies.

Wooden puzzles consisting of interlocking assembly of notched sticks are often referred to as bar-puzzles, sometime known as the Chinese Puzzles or Chinese Cross. By far the more familiar of three-dimensional puzzles in general is the multi-piece bar. But there does not appear to be any evidence that the idea of its mechanism property and any configuration analysis originated. To this purpose, this paper proposes a static and discrete reconfiguration theory of geometric puzzles for modeling the topology changement as Put Together, Take Apart, Sequential Movement and various others.

The partition and assembly process analysis aims to extract the kinematic chains as links and joints. The puzzle unlocking leads to configuration constraints rearrangement problems which accompanying pieces of bars self-grouped as defined reconfiguration links and joints. The puzzle solutions are first described as reconfigurable topology mechanism and the constrained mobility is analyzed based on an ingenious and distinctive reconfiguration property.

This paper investigates the use of an agent based assembly strategy for a wind turbine hub. The manual assembly procedure for a wind turbine is presented. The hub parts are constantly optimised and therefore a fully automated assembly line requires continously reprogramming. Thus, a new reconfigurable assembly system is introduced which is flexible and self-adaptive. The methodology of implementing an intelligent agent for designing the assembly strategy for the wind generator hub and the algorithm for the optimal task sequence are described. In the curriculum of mechanism design, degree of freedom DOF is by far one of the most important issues, but it is not easy to whether impart from teachers or learn for students, especially it needs strong space imagination to determine the freedoms and constraints.

To make this teaching or learning more convenient, an education kit is no doubt helpful to understand the complicated concept and theory via demonstration or DIY. For this purpose, a design philosophy for a reconfigurable compliant education kit is proposed, and a prototype is provided correspondingly. The education kit shows its advantages in the following applications: 1 demonstrate the complementary rule of freedom and constraint proposed by Maxwell; 2 identify the redundant constraints; 3 analyze degree of freedom in both a qualitative and quantitative way; 4 develop the design of a specific compliant mechanism with multiple topologies.

In this paper, a systematic approach is presented for the structural synthesis of a class of metamorphic parallel mechanisms which possess variable mobility. The metamorphic parallel mechanisms are constructed using limbs with lockable joints. When different joints are locked, the mechanisms will have different mobility from single degree of freedom to full six degrees of freedom.

First, the feasible limbs are enumerated based on constraint analysis. Then a metamorphic parallel mechanism constructed with feasible limbs is presented as example and its ability to perform variable mobility is demonstrated. The metamorphic parallel mechanisms presented in this paper will be perfect suitable in the complex process of industrial production. This paper presents adjacency matrix originated three-dimensional matrix for structural representation of mechanisms by integrating binary string in the sense of displacement subgroup theory.

The improved elementary matrix operation for expressing of topological transformation of metamorphic mechanism is integrated in the three-dimensional matrix representation. A novel reconfigurable eight-bar linkage employing variable-axis revolute joints is proposed and the three-dimensional matrix for each working phase is expressed to reveal the distinct geometry. The improved elementary matrix operation is used to express the topological transformation of a metamorphic eight-bar linkage and to identify the effectiveness of the operation.

Traditional loaders are mostly hydraulic type, of which there exists some problems like high costs of manufacturing, assembling and maintaining. A novel type of electric loader with the ability to change its topological structures to satisfy various kinds of needs in the working process is proposed.

New Advances in Mechanisms, Mechanical Transmissions and Robotics

One driving motor can finish multiple tasks such as shoveling, loading, lifting, and unloading. This paper introduces the source-metamorphic mechanism of the newly invented loading mechanism, as well as its metamorphic ways to achieve variable topology. The adjacency matrix and topological graphs are used to describe topological change of each working phase, based on which the principles and characteristics of configuration changing are analyzed.

By analysing the work process of self-help chair for the old, combined with the topology analysis, calculated the degrees of freedom in each phase. This page elaborated on the analytical methods of composite hinge in topological diagram, and provided a design example and analytical samples for further research of metamorphic theory and analytical method.

New concepts such as the variable graph, the invariant subgraph, the variable subgraph and the cell-variator etc. Three new theorems on composition of the variable graph and one new theorem on the equivalent transformation of the incidence relation cell-variator are found out and their validity is strictly proved. The classifications of the cell-variators and the diagram representations of three kinds of cell-variators are studied.

The diagram representation and adjacent matrix representation of the variable graph are given. The variable graph provides useful new tool for the topological structural analysis and synthesis of metamorphic mechanisms or variable topology mechanisms. It has great scientific value and engineering practicality. Firstly, according to their contributions to the moving platform, the limbs of PPMs can be classified as four categories: actuated limb with zero constraint, fully-constrained limb with zero actuator, fully-constrained limb with one actuator and under-constrained limb with one actuator.

Followed by the descriptions of actuated space and constrained space for the end of the limbs by virtue of the screw theory, the type syntheses of the four type limbs are carried out. Then different sets and functions are defined respectively, whose elements and variables are the topologies of four type limbs. The different function values and the composition principle of PPMs lead to existence of PPMs topologies by four solutions. Finally, taking three typical PPMs with linear motors for examples, their virtual prototypes are obtained with commercial 3-dimensional CAD software.

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Static and dynamic model of self-adapting impacted and contractile mechanism of crawling robots on cone lamp pole are built, also contact force and contract action of pressing mechanism are simulated and analyzed in COSMOSMotion. Research shows that the mechanism compacting force on the pole is evenly distributed when applied at constant force; corresponding relationship of the contracting force and caliber is given, which provides the design basis for the robot crawling with the constant force. This paper deals with the deformation function of the flexspline under load condition, and its effect on the tooth profile.

In order to investigate the deformation discipline under load condition, a kinematic simulation analysis model of ABAQUS for a harmonic drive with engagement output is established. With this model, the nodal displacements of the flexspline neutral layer under different loads are obtained in dynamic transmission process. Fourier function is adopted to fit the deformation function under loads. Based on the deformation function, the tooth profile of the circular spline is modified. The example indicates that with the modified tooth profile under load condition the conjugate region increases, and the deformation function varies little.

The work of this paper lays the foundation for optimizing the tooth profile to prolong service life of harmonic drives. Steering is one of the important systems of an automobile. Ackermann mechanism is popularly used in all the automobiles. Though advances such as power steering have been taking place in providing steering to automobiles, the basic mechanism is Ackermann mechanism only. The Ackermann mechanism does not provide perfect steering conditions.

However, it is popular because it involves only revolute pairs in the mechanism. In this paper an attempt is made to propose a new steering mechanism which is simpler than Ackermann mechanism and provides perfect steering always. A closed loop mechanism is constructed by combining two tetrahedrons units to share a common face with three spherical joints such that the geometric structure of the mechanism is a triangular bipyramid.

We show that the structure of the mechanism enables it possess a rolling function when proceeding on the ground. Furthermore, with the similar topology structure, two more closed-loop rolling mechanisms are obtained by combining 4 and 6 units, respectively. Due to the similar rolling principles of the proposed mechanisms, it suffices to analyze the rolling feasibility of the triangular bipyramid mechanism.

By analyzing the kinematics, the deformation features of the mechanism are obtained. Upon some proper controls, we show that these features enable the mechanism to roll and switch directions when it proceeds on the ground. These functions are verified by a series of simulations with a 3D model and experiments with a prototype. Compliant multistable mechanisms, which are capable of steadily staying at multiple distinct positions without power input, have many potential applications in switches, valves, closures, relays, statically-balanced mechanisms, reconfigurable robots, and large-displacement micro actuators.

In this paper, we propose a new idea of utilizing metamorphic transformations to develop compliant multistable mechanisms.

Latest Results and Developments

By distributing the prescribed stable equilibrium positions into different metamorphic working phases, the design of a compliant multistable mechanism can be greatly simplified. The idea is demonstrated by a tristable mechanism that can metamorphically transform from a compliant 5-bar mechanism into a compliant 4-bar mechanism in a certain range of motion. The kinetostatic solution of this tristable mechanism is formulated and the kinetostatic results confirm that the mechanism has two deflected stable equilibrium positions besides its initial assembly position, with one occuring in the 4-bar working phase and the other in the 5-bar working phase.

Although the discussion is limited to a planar 5-bar mechanism, the idea of utilizing metamorphic transformations to achieve multistable behivors can surely be extended to other types of linkages. This paper deals with the type synthesis of partially decoupled 2-DOF parallel mechanisms with two 1T1R one translation and one rotation operational modes—a novel class of reconfigurable parallel mechanisms which can switch operational modes without disassembly.

In the two 1T1R operational modes, the axes of rotation of the moving platform are different. A bi-mode revolute joint is defined to simplify the representation of motion patterns of the moving platform. Using the vitual-chain approach, the type synthesis of partially decoupled 2-DOF 1T1R parallel mechanisms and partially decoupled 2-DOF parallel mechanisms with two 1T1R operational modes is carried out.

The proposed mechanisms need one less actuated joint than the existing parallel mechanisms with two 1T1R operational modes. This work provides a solid foundation for developing energy-efficient parallel mechanisms with two 1T1R operational modes. This paper presents reconfiguration with mobility change of a class of metamorphic parallel mechanisms consisting of three reconfigurable rT.

Stemming from the reconfiguration of the reconfigurable Hooke rT joint, the rT. The platform constraint screw systems show that the new metamorphic parallel mechanisms have four topologies by altering the limb phases with mobility change among 1R2T one rotation with two translations , 2R2T, 3R2T and mobility 6. Special topologies are identified considering the limb arrangement. Following these, actuation scheme is discussed by covering all the topologies of the metamorphic parallel mechanisms based on constraint screws.

Using topological structure synthesis method based on the Position and Orientation Characteristic POC set, 26 kinds of 3-translation parallel mechanisms are synthesized, and 19 of which are presented for the first time. This method may be applicable for both topological structure synthesis of non-over-constrained and generally over-constrained mechanisms. The geometric and physical meaning of this method is clear and easy to understand for designers. In this paper, a novel Reconfigurable Spherical Motion Generator is proposed. The aim of the proposed redundant parallel manipulator is to provide unlimited spherical motion.

The conceptual design is first presented and followed by three different prototypes. The motivations of each prototype are explained and the structures of each prototype are described in detail. During the development of RSMG, different problems have been addressed and solved by the following up prototypes. This paper presents a new method for the topological reconfiguration of a parallel robot. Using the existing structure of a full six degree-of-freedom parallel robot, limited mobility modes can be realized easily without the need to remove branch modules from the robot structure.

In doing so, the robot is capable of assuming a configuration that uses only the degrees-of-freedom required to complete a given task. However, due to the system setup, there are multiple candidate configurations available, each with its own workspace and reach capabilities, thus guidance is needed in selecting the appropriate configuration. An isomorphic and workspace analysis are performed to identify the capabilities of each configuration. To accomplish this, a branch-based mobility analysis, and a parametric kinematic constraint equation are formulated.

It is shown that limited mobility modes with different isomorphic configurations can be synthesized automatically with this method. This paper presents a type-changeable kinematic pair with variable topology. The geometry properties and topological phases of the type-changeable kinematic joint are revealed. A novel reconfigurable parallel mechanism is evolved from the type-changeable kinematic pair according to geometric conditions of assemblages for parallel mechanisms. The platform of the reconfigurable parallel mechanism is capable of implementing various functions accompanying to the phase change of the integrated type-changeable kinematic pair.

The platform has 6 DOFs in the source phase and can change its mobility to 5, 4 and 3. Experiments have been carried out for identification of a 3R. As manufacture trends move towards life-cycle design, sustainable production, geometrical complexity, short time-to-market, small and variable batch production and mass customization; manufacture equipment struggles to keep pace and provide the required flexibility, adaptability and automation.

This paper describes the new concept of self-reconfigurable intelligent swarm fixtures. Following the conception of this new fixturing system, it arises under European commission 7th framework programme the SwarmItFIX project that gives an application and an insight towards the new fixture technology. The paper gives a description of the solution developed in SwarmItFIX focusing on the physical prototype demonstrator constructed to validate the concept as an intended new fixture benchmark for manufacturing sheet metal panels.

Traditional bionic joints including wrist, waist, ankle and shoulder have three revolute degrees of freedom, which can be treated as spherical joints, and its structure is prone to be damaged with impact force through the center of spherical joint. In this paper, a novel metamorphic parallel mechanism with two configurations used for bionic joint design is presented.

The origin kinematic chain for this metamorphic mechanism, which is also the first configuration mechanism, consists of a moving platform, a base plate and four connecting legs between moving platform and base plate. In contrast with traditional ankle joint, a constrained translational degree of freedom can be activated in origin kinematic chain to avoid impact damage.

The origin kinematic chain can transform to the second configuration mechanism which is in possession of three revolute degrees of freedom and equivalent to normal spherical joint. The transforming process is represented by new incidence matrix and the motion characteristics of this metamorphic mechanism in different configuration corresponding to each work-stage are analysed using screw theory. Although numerous PKM topologies have been invented recently, few of them have been successfully put into production. A good topology can only provide good performance unless its geometrical parameters are optimized.

This paper studies the dimensional synthesis of a new PKM which has shown great potential for large volume high performance manufacturing. A new optimization approach is proposed for design optimization, with a new performance index composed of weight factors of both Global Conditioning Index GCI and actuator stroke. Maximizing GCI will ensure the effectiveness of the workspace, while minimizing actuator stroke leads to reduced machine cost and increased efficiency.

Results show that the proposed optimization method is valid and effective. The PKM with optimized dimensions has a large workspace to footprint ratio and a large well-conditioned workspace, which ensures its suitability for large volume machining. The study uses screw theory to investigate the mobility and the singular configurations of the mechanism.

The constraint-screw set of the platform is obtained from an analysis of the motion-screw sets comprised by each kinematic chain. The analysis shows that the platform has a screw motion, that is, a one degree-of-freedom motion consisting of a rotation and a translation about an invariant axis.

The motion-screw sets are also used to obtain the Jacobian matrix of the mechanism which provides closed-form solutions for the inverse and forward instantaneous kinematic problems. This matrix also provides insight into the singular configurations by investigating the constraint-screws and the motion-screws of the platform in these configurations. Finally, two numerical examples and a motion simulation of the mechanism are presented to illustrate the significance of the analytical results.

To reveal the modal properties of a 3-dof PKM module, a wire-frame model is proposed and relative experimental modal test is conducted. The lower orders of natural frequencies, damping ratios are obtained and corresponding mode shapes are classified. The modal analysis reveals two categories of vibration modes for the PKM module.

The first to the third orders of modes correspond to the overall vibration of the module while the fourth to the sixth orders of modes corresponding to pitch and yaw as well as their combination of the moving platform. The overall vibration modes of the module are expected to be eliminated through bolt-connection of the base and fixed frame. The moving platform vibration modes, however, rely on the weak stiffness of spherical joints. Thus, desirable dynamic performance of the PKM module demands delicate design for the spherical joint with high stiffness.

Special Sessions on Emerging Robotics Technology

The motion character of a special three degree-of-freedom DOF parallel mechanism is analyzed by screw theory. After that, a numerical example is presented to illustrate the analysis in detail. At last, we draw some conclusions and discuss the future work. This paper proposes an approach to analyse comprehend the effect of different uncertain ground impedance parameters on bipedal walking. A dynamic model of a rimless wheel in contact with an unpredictable visco-elastic terrain is presented. The mathematical model of the rimless wheel as it makes contact with an uneven ground has been developed based on Lagrangian dynamics.

The uncertain ground impedance parameters induce structural visco-elasticity which is represented by a spring and damper pair in the horizontal direction and another in the vertical direction. A numerical simulation has been performed to investigate the behaviour of the proposed dynamic mathematical model.

Recent Advances in Mechanism Design for Robotics | hakewyfixedi.ml

The results describe the effect of the interplay among the visco-elastic parameters at the ground-leg contact point of a legged walker and the emerging properties of interaction dynamics of walking on different impedance parameters. The results of simulation trials highlight the importance of the above interplay in the area of bipedal humanoid walking. Metamorphic mechanisms with two distinct behaviors were designed using compliant mechanism theory with a potential application as a prosthetic knee. The designs use cross-axis flexural pivots, either in inversion or isolation, with engaging teeth to carry loads at distinct angles.

Inverted compliant mechanisms function by inverting the mechanism so the compliant members are in tension when a compressive load is applied. Compliant mechanisms in isolation provide an alternative loading pattern which redirects the load to a passive rest. When tension is applied to the device, the teeth are disengaged and the mechanism is allowed to rotate freely.

The purpose of this design is to hold compressive loads both when un-flexed and flexed. The concept is applied in the preliminary design of a prosthetic knee joint. Proof-of-concept prototypes successfully demonstrate the metamorphic behavior. This paper presents the design of a new inherently compliant actuator intended for the development of a knee exoskeleton. The proposed actuator has the ability to reconfigure the level of stiffness in order to achieve suitable torque-to-angular displacement profiles for different human tasks and users. The design specifications of the actuator have been obtained from motion capture and simulation data of sit-stand-sit motion cycle.

The actuator functional principle and modeling are presented. Finally the mechatronic design of the actuator is described. This paper proposes a dynamic model utilizing continuum arms to form a reconfigurable robotic system. The continuum arms are composed of serially-linked parallel mechanisms inspired by octopus arm anatomy. The kinematics and dynamics for a single continuum arm are formulated and then expanded to a multiple arm system using a modular modeling method.

Simulation results show that this robotic system is capable of diverse locomotion patterns by changing the configuration of the arms. Surgical instruments with multi-degree of freedom DoFs are widely used in single-port surgery and natural orifice transluminal endoscopic surgery. In this paper, a novel reconfigurable unit, which can be used as a basic component of a high dexterous surgical instrument HDSI , was developed according to an isosceles trapezoid mechanism.

Then the unit was improved and optimized to obtain a larger rotational range. The new unit can prevent driving cable from slackening during the moving. Two multi-joint prototypes, which are designed based on the proposed reconfigurable unit, are developed and experimented preliminarily. Experiment results show that the unit can avoid cable slack and is suitable to be used for HDSI. The MR-compatible robot for needle insertion has attracted increasingly attentions due to high precision in minimally invasive surgery. A robotic system for prostate brachytherapy has been designed and is actuated by five ultrasonic motors to realize needle orientation and insertion.

The application of cable transmission leads to a compact and dexterous mechanism, because all the motors are placed in the base and the moving part of the mechanism becomes as light and small as possible. The displacement analysis is carried out and the reachable workspace is obtained. Jacobian matrix is deduced in velocity mapping model for dimensional synthesis in further study. Configuration singularities are analyzed on the basis of Jacobian matrix.

The robot has a mechanism of two passive DOFs in its waist, namely the flexible waist. Minimally invasive robotic surgery has many advantages over traditional open surgery and laparoscopic surgery, though current minimally invasive surgical MIS robots have significant drawbacks, including large volume and weight.

This paper presents a new arrangement of a multi-degrees of freedom DOF MIS robot to maintain portability while incorporating a reconfigurable structure to achieve improved output force and stiffness. The performance and design of the reconfigurable structure are also optimized. Performance analysis shows this new reconfigurable robot can achieve a sufficiently large workspace and output forces for MIS. This paper presents a novel portable passive robotic platform for three-dimensional scanning 3DS of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition.

The platform comprises six degrees of freedom DOF passive robotic arm Phantom Omni , a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours. The goal of this paper is to introduce scaffolded DNA origami as a viable approach to the design of nanoscale mechanisms and machines.

Resembling concepts of links and joints in macro scale mechanisms and machines, we propose the concept of. Realization of nanoscale machines would pave the way for novel devices and processes with potential to revolutionize medicine, manufacturing, and environmental sensing.

Machine design innovation through technology and education - Anurag Purwar - TEDxSBU

The realization of nanoscale machines and robots will enable scientists to manipulate and assemble nano objects in a more precise, efficient and convenient way at the molecular scale. For example, DNA nanomachinery could potentially be used for nano manufacturing, molecular transport in bioreactors, targeting cancer cells for drug delivery, or even repairing damaged tissue. As a proof of concept, we build a nanoscale spatial Bennett 4-bar mechanism that can be completely folded and unfolded with a specified kinematic motion path.

The links comprise a 16 double stranded DNA dsDNA helices bundled in a 4 by 4 square cross-section yielding a high mechanical stiffness. The resulting structure was imaged by transmission electron microscopy to identify structural conformations. Our results show that the designed DNA origami Bennett mechanism closely follows the kinematics of their rigid body counterparts.

This research has the potential of opening a new era of design, analysis and manufacture of nanomechanisms, nanomachines and nanorobots. This paper presents an application of the virtual prototyping on the reconfigurable mechanisms and in particular, in this study, is shown a multibody origami carton folding model.

The aim of this work is to reproduce via numerical model the D-RAPS reconfigurable multifinger robot that is in use for this kind of application. Thanks to the trajectory matching, the authors reach model validation only by comparing analytical and numerical results.